WO2016123702A1 - Procédé et dispositif pour implantation de cupule au moyen de capteurs inertiels - Google Patents

Procédé et dispositif pour implantation de cupule au moyen de capteurs inertiels Download PDF

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Publication number
WO2016123702A1
WO2016123702A1 PCT/CA2016/050088 CA2016050088W WO2016123702A1 WO 2016123702 A1 WO2016123702 A1 WO 2016123702A1 CA 2016050088 W CA2016050088 W CA 2016050088W WO 2016123702 A1 WO2016123702 A1 WO 2016123702A1
Authority
WO
WIPO (PCT)
Prior art keywords
orientation
cup
pelvis
patient
inertial sensor
Prior art date
Application number
PCT/CA2016/050088
Other languages
English (en)
Inventor
Bruno Falardeau
Karine Duval
Yvan Leone
François PARADIS
Di Li
Myriam Valin
Benoit Pelletier
Laurence Moreau-Belanger
Original Assignee
Orthosoft Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Orthosoft Inc. filed Critical Orthosoft Inc.
Priority to CN201680008240.3A priority Critical patent/CN107205782B/zh
Priority to CA2974848A priority patent/CA2974848A1/fr
Priority to EP16746028.6A priority patent/EP3253321A4/fr
Publication of WO2016123702A1 publication Critical patent/WO2016123702A1/fr

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
    • A61B17/1664—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip
    • A61B17/1666—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body for the hip for the acetabulum
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems

Definitions

  • the acetabular cup is typically positioned in the reamed acetabulum by way of an impactor.
  • the impactor has a stem at an end of which is the acetabular cup.
  • the stem is handled by an operator that impacts the free end so as to drive the acetabular cup into the acetabulum. It is however important that the operator holds the stem of the impactor in a precise three-dimensional orientation so as to ensure the adequate orientation of the acetabular cup, in terms of inclination and anteversion.
  • two of said at least one inertial sensor unit are provided, one of said inertial sensor unit being connected to the cup implanting device, another one of said inertial sensor unit incorporated in a pelvic reference adapted to be fixed to the pelvis of the patient, for tracking the reference axis during movements of the pelvis.
  • Fig. 2 is a flow chart of a method for calculating an orientation of a cup implanting device relative to a pelvis using inertial sensors
  • the device 10 may additionally comprise a rotation indicator 22 (a.k.a., pointing device), used to acquire a missing third degree of freedom, rotation about the yaw axis, as described hereinafter.
  • the rotation indicator 22 is positioned at a fixed position and orientation relative to the center of the acetabular cup C, when attached to the tooling end 12 of the device 10.
  • the rotation indicator 22 is a light source, such as a planar laser which projects a line onto a surface, or a laser beam producing a point.
  • the line is representative of a known orientation when projected onto a reference landmark, and is thus used when defining the initial position of the device 10 as described hereinafter.
  • the longitudinal axis of the device 10 lies in the light plane produced by the rotation indicator 22.
  • a distance and vector of the light plane is known relative to the center of the acetabular cup C.
  • X-Axis is aligned with the medio-lateral axis of the patient projected on the ground plane (e.g., OR table); and
  • Pitch the angle between the longitudinal axis of the device 10, or cup normal, and a plane perpendicular to the gravity vector (i.e., in which the X-Axis and the Y-Axis lie). This information is known and provided by the accelerometer set of the inertial sensor unit 18.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Prostheses (AREA)
  • Pain & Pain Management (AREA)
  • Rheumatology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Surgical Instruments (AREA)

Abstract

La présente invention concerne un système de chirurgie assistée par ordinateur (CAO) qui comprend un dispositif d'implantation de cupule comprenant une tige ayant une extrémité d'outillage et une extrémité de manche avec un manche pour être manipulé, la tige ayant un axe longitudinal, l'extrémité d'outillage étant adaptée pour soutenir une cupule destinée à être reçue dans un acétabulum d'un patient, et un indicateur de rotation ayant un guide visuel représentatif d'un plan de dispositif, le plan de dispositif étant à une position et dans une orientation connues par rapport à un centre de la cupule sur l'extrémité d'outillage. Une unité de traitement CAO comprend au moins une unité de capteur inertiel raccordée au dispositif d'implantation de cupule, l'unité de capteur inertiel délivrant en sortie des mesures sur trois axes et ayant une orientation prédéfinie virtuelle par rapport à un axe de référence du bassin du patient, l'orientation prédéfinie virtuelle étant basée sur une imagerie préopératoire spécifique du bassin du patient, l'axe de référence du bassin traversant un centre de rotation dudit acétabulum du bassin et traversant un repère de référence du bassin, où une orientation sur trois axes instantanés de l'axe longitudinal du dispositif d'implantation de cupule est connue sur le plan trigonométrique par rapport à l'axe de référence lorsque la cupule est dans l'acétabulum du patient et le plan de dispositif traverse le repère de référence par l'intermédiaire du guide visuel, l'orientation sur trois axes instantanée utilisée pour étalonner l'unité de capteur inertiel sur le dispositif d'implantation de cupule par rapport au bassin.
PCT/CA2016/050088 2015-02-02 2016-02-02 Procédé et dispositif pour implantation de cupule au moyen de capteurs inertiels WO2016123702A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN201680008240.3A CN107205782B (zh) 2015-02-02 2016-02-02 使用惯性传感器用于杯植入物的方法和装置
CA2974848A CA2974848A1 (fr) 2015-02-02 2016-02-02 Procede et dispositif pour implantation de cupule au moyen de capteurs inertiels
EP16746028.6A EP3253321A4 (fr) 2015-02-02 2016-02-02 Procédé et dispositif pour implantation de cupule au moyen de capteurs inertiels

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201562110850P 2015-02-02 2015-02-02
US62/110,850 2015-02-02

Publications (1)

Publication Number Publication Date
WO2016123702A1 true WO2016123702A1 (fr) 2016-08-11

Family

ID=56552676

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CA2016/050088 WO2016123702A1 (fr) 2015-02-02 2016-02-02 Procédé et dispositif pour implantation de cupule au moyen de capteurs inertiels

Country Status (5)

Country Link
US (2) US10881470B2 (fr)
EP (1) EP3253321A4 (fr)
CN (1) CN107205782B (fr)
CA (1) CA2974848A1 (fr)
WO (1) WO2016123702A1 (fr)

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US7559931B2 (en) 2003-06-09 2009-07-14 OrthAlign, Inc. Surgical orientation system and method
US8549888B2 (en) 2008-04-04 2013-10-08 Nuvasive, Inc. System and device for designing and forming a surgical implant
ES2683029T3 (es) 2008-07-24 2018-09-24 OrthAlign, Inc. Sistemas para el reemplazo de articulaciones
US20100137871A1 (en) 2008-09-10 2010-06-03 OrthAlign, Inc. Hip surgery systems and methods
US8118815B2 (en) 2009-07-24 2012-02-21 OrthAlign, Inc. Systems and methods for joint replacement
US10869771B2 (en) 2009-07-24 2020-12-22 OrthAlign, Inc. Systems and methods for joint replacement
EP2849683A4 (fr) 2012-05-18 2015-11-25 Orthalign Inc Dispositifs et méthodes pour arthroplastie du genou
US9649160B2 (en) 2012-08-14 2017-05-16 OrthAlign, Inc. Hip replacement navigation system and method
US20160262800A1 (en) 2015-02-13 2016-09-15 Nuvasive, Inc. Systems and methods for planning, performing, and assessing spinal correction during surgery
US10363149B2 (en) 2015-02-20 2019-07-30 OrthAlign, Inc. Hip replacement navigation system and method
JP2019514450A (ja) 2016-03-02 2019-06-06 ニューヴェイジヴ，インコーポレイテッド 脊椎矯正外科計画のためのシステムおよび方法
US10716630B2 (en) 2016-07-15 2020-07-21 Mako Surgical Corp. Systems and methods for a robotic-assisted revision procedure
AU2017358069B2 (en) * 2016-11-14 2023-06-22 Vivid Surgical Pty Ltd Alignment apparatus for use in surgery
EP3595550A4 (fr) 2017-03-14 2020-12-30 OrthAlign, Inc. Systèmes et procédés de mesure& d'équilibrage de tissu mou
CA3056382A1 (fr) * 2017-03-14 2018-09-20 OrthAlign, Inc. Systemes et procedes de guidage pour un remplacement de hanche
GB201705918D0 (en) * 2017-04-12 2017-05-24 Depuy Ireland Ultd Co Orientation guide
GB201705920D0 (en) 2017-04-12 2017-05-24 Depuy Ireland Ultd Co Apparatus and method for hip surgery
US11647920B2 (en) * 2017-09-15 2023-05-16 Mirus Llc Systems and methods for measurement of anatomic alignment
CN109793563B (zh) * 2019-01-31 2020-07-14 山东大学齐鲁医院 一种骨盆骨折微创治疗用置钉定位***及工作方法
CN109846528B (zh) * 2019-03-01 2021-04-02 山东新华联合骨科器材股份有限公司 基于惯性导航的关节置换手术辅助定位方法及***
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Also Published As

Publication number Publication date
CN107205782B (zh) 2020-08-11
US20160220318A1 (en) 2016-08-04
US20210093401A1 (en) 2021-04-01
CN107205782A (zh) 2017-09-26
US11517382B2 (en) 2022-12-06
EP3253321A4 (fr) 2018-10-10
US10881470B2 (en) 2021-01-05
CA2974848A1 (fr) 2016-08-11
EP3253321A1 (fr) 2017-12-13

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